EP1571460B1

EP1571460B1 - Satellite positioning apparatus and current position determining method

Info

Publication number: EP1571460B1
Application number: EP05250725A
Authority: EP
Inventors: Kotaro Wakamatsu
Original assignee: Alpine Electronics Inc
Current assignee: Alpine Electronics Inc
Priority date: 2004-03-05
Filing date: 2005-02-09
Publication date: 2010-09-08
Anticipated expiration: 2025-02-09
Also published as: CN100498224C; DE602005023368D1; US20050195107A1; JP2005249653A; EP1571460A2; JP4234039B2; US7295155B2; CN1664505A; EP1571460A3

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a satellite positioning apparatus for use in a satellite positioning system, such as the global positioning system (GPS), for determining the position of the apparatus based on signals received from satellites.

2. Description of the Related Art

GPS is a well-known satellite navigation system including a plurality of satellites and a satellite positioning apparatus that moves along with a mobile object, e.g., a vehicle.
One known positioning technique for use in GPS receivers serving as such GPS satellite positioning apparatuses is positioning with the use of only signals received from high-elevation satellites, thereby reducing multipath effects on the positioning accuracy, which are caused by obstacles, such as buildings (see, for example, Japanese Unexamined Patent Application Publication No. 6-281721 ).
Another known positioning technique for use in GPS receivers is positioning with the use of signals received from a group of satellites providing the best DOP (Dilution of Precision) that is determined from satellites from which the GPS receivers can receive signals (see, for example, Japanese Unexamined Patent Application Publication No. 5-297104 or European Patent Application EP 0 353 849 ). DOP is a measure of the geometrical strength of the satellite configuration.
The positioning accuracy and error of a satellite positioning apparatus vary depending upon a combination of satellites used for positioning. Frequent changes of the satellites used for positioning can deteriorate the positioning stability of satellite navigation, and can cause position jumps or positioning errors. Such position jumps or positioning errors make it difficult to correct the position determined by the satellite navigation apparatus to a correct position using a correction technique, e.g., map matching between a trajectory defined by determined position records and a road map view.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide a satellite positioning apparatus that provides high positioning accuracy and stability.
In one aspect of the present invention, a satellite positioning apparatus that performs positioning based on signals received from satellites, comprising: available-satellite selecting means adapted each time satellite positioning is performed, to select a plurality of available satellites available for satellite positioning from satellites whose signals have been received, the available satellites comprising satellites meeting a predetermined condition; designated-satellite selecting means adapted each time satellite positioning is performed, to select a predetermined number of designated satellites to be used for satellite positioning from the plurality of available satellites selected by the available-satellite selecting means, the predetermined number of designated satellites being selected so that when the plurality of available satellites include a predetermined number of satellites selected as designated satellites for satellite positioning the previous time satellite positioning was performed, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time satellite positioning was performed are selected with priority as the designated satellites to be used for the satellite positioning; and satellite positioning means adapted to perform satellite positioning each time using the signals received from the designated satellites selected by the designated-satellite selecting means.
The invention further provides a current position determining method for a navigation apparatus, for determining a current position, the navigation apparatus comprising a satellite positioning apparatus that performs positioning using satellite positioning and a self-contained-navigation positioning apparatus that performs positioning using self-contained navigation, the method comprising: a first step of, in the satellite positioning apparatus, each time satellite positioning is performed, determining available satellites from satellites whose signal has been received, the available satellites comprising satellites meeting a predetermined condition; characterized by; a second step of, in the satellite positioning apparatus, each time satellite positioning is performed, selecting candidate satellites from available satellites, the candidate satellites comprising satellites continuously selected a predetermined number of times as the available satellites in the first step; a third step of, in the satellite positioning apparatus, each time satellite positioning is performed, when the number of candidate satellites selected in the second step is n or greater, where n is an integer greater than three, selecting n satellites as designated satellites from the candidate satellites, the designated satellites being selected so that when the candidate satellites include a predetermined number of satellites selected as designated satellites for satellite positioning the previous time satellite positioning was performed, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time satellite positioning was performed are selected with priority as the designated satellite to be used for the satellite positioning; a fourth step of, in the satellite positioning apparatus, when the number of designated satellites selected in the third step is n, performing three-dimensional positioning using the signals received from the n designated satellites; and a fifth step of, in the navigation apparatus, at least when the number of candidate satellites selected in the second step is n or greater, determining the current position based on a position determined by the satellite positioning apparatus and a position determined by the self-contained-navigation positioning apparatus, and at least when the number of candidate satellites selected by the second step is smaller than three, determining the current position based on the position determined by the self-contained-navigation positioning apparatus.
In the satellite positioning apparatus, when a combination of satellites is continuously available for satellite positioning, this combination of satellites can continuously be used for satellite positioning. Thus, satellite positioning using the same combination of satellites with priority can be realized, leading to stable satellite positioning while suppressing frequent changes of the combination of designated satellites.
In another aspect of the present invention, a satellite positioning apparatus that performs positioning based on a signal received from a satellite includes an available-satellite selecting unit that, each time satellite positioning is performed, selects a plurality of available satellites available for satellite positioning from satellites whose signals have been received, the available satellites being satellites meeting a predetermined condition, a candidate-satellite selecting unit that selects a plurality of candidate satellites each time satellite positioning is performed, the candidate satellites being satellites continuously selected a predetermined number of times or more as the available satellites by the available-satellite selecting unit, a designated-satellite selecting unit that, each time satellite positioning is performed, selects a predetermined number of designated satellites to be used for satellite positioning each time from the plurality of candidate satellites selected by the candidate-satellite selecting unit, the predetermined number of designated satellites being selected so that when the plurality of candidate satellites include a predetermined number of satellites selected as designated satellites for satellite positioning the previous time, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time are selected with priority as the designated satellites to be used for the satellite positioning each time, and a satellite positioning unit that performs satellite positioning each time using the signals received from the designated satellites selected by the designated-satellite selecting unit.
In the satellite positioning apparatus according to the present invention, satellites to be used for satellite positioning each time may be selected from satellites stably available for satellite positioning for a predetermined period of time or longer up to now so that the combination of satellites to be used for the satellite positioning each time can be as similar as possible to the combination of satellites used for satellite positioning the previous time. It is highly probable that the satellites stably available for satellite positioning for a predetermined period of time or longer up to now will also be stably available for satellite positioning in the future.
Therefore, more stable satellite positioning continuously using the same combination of satellites can be realized.
In the satellite positioning apparatus including the candidate-satellite selecting unit, when the number of candidate satellites selected by the candidate-satellite selecting unit is n or greater, where n is an integer greater than three, the designated-satellite selecting unit may select n satellites as the designated satellites to be used for the satellite positioning each time. When the number of designated satellites selected by the designated-satellite selecting unit is n, the satellite positioning unit may perform three-dimensional positioning using the signals received from the n designated satellites. In this case, n may be 4.
When the number of candidate satellites selected by the candidate-satellite selecting unit is three, the designated-satellite selecting unit may select the three satellites as the designated satellites to be used for the satellite positioning each time. When the number of designated satellites selected by the designated-satellite selecting unit is three, the satellite positioning may perform two-dimensional positioning using the signals received from the three designated satellites.
Thus, even if the number of stably available satellites is three, stable two-dimensional positioning can be performed while suppressing frequent changes of the combination of designated satellites with high probability, which is normally caused by continuous three-dimensional positioning using four or more satellites.
In the satellite positioning apparatus including the candidate-satellite selecting unit, preferably, the candidate satellites selected by the candidate-satellite selecting unit are satellites that are continuously selected a predetermined number of times or more as the available satellites by the available-satellite selecting unit each time satellite positioning is performed and that have a variation level of signal receiving intensity for a most recent predetermined period of time smaller than a predetermined level.
This allows for satellite positioning without multipath effects.
In the satellite positioning apparatus, the available satellites selected by the available-satellite selecting unit may be satellites having at least an elevation angle greater than a predetermined value. Alternatively, the available satellites selected by the available-satellite selecting unit may be satellites having at least a signal receiving intensity level higher than a predetermined level, or satellites providing the best or better dilution of precision than a predetermined level.
The satellite positioning apparatus described above may be used in a navigation apparatus for determining a current vehicle position. The navigation apparatus may include the satellite positioning apparatus including the candidate-satellite selecting unit, a self-contained-navigation positioning apparatus that performs positioning using self-contained navigation, and a current-position determining unit that determines the current position based on a position determined by the satellite positioning apparatus and a position determined by the self-contained-navigation positioning apparatus. When the number of candidate satellites selected by the candidate-satellite selecting unit is smaller than three, preferably, the current-position determining unit determines the current position based on only the position determined by the self-contained-navigation positioning apparatus.
Accordingly, if the number of satellites stably available for satellite positioning for a predetermined period of time or longer is smaller than three, the current position may be determined based on self-contained-navigation positioning without using satellite positioning. Thus, the current position can be stably determined while preventing a satellite positioning error due to frequent changes of the combination of satellites used for satellite positioning from affecting determination of the current position.
According to the present invention, therefore, a satellite positioning apparatus providing high positioning accuracy and stability can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a block diagram of a navigation system according to an embodiment of the present invention;
Fig. 2 is an illustration of a navigation image displayed according to the embodiment of the present invention;
Fig. 3 is a diagram showing an overall satellite positioning operation according to the embodiment of the present invention;
Fig. 4 is a flowchart showing a satellite selection process according to the embodiment of the present invention;
Figs. 5A to 5D are illustrations of satellite data for use in the satellite selection process according to the embodiment of the present invention; and
Figs. 6A and 6B are illustrations of satellite data for use in the satellite selection process according to the embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A satellite positioning apparatus according to an embodiment of the present invention will now be described in the context of a navigation system installed in a vehicle.
Fig. 1 is a block diagram of an in-vehicle navigation system according to an embodiment of the present invention.
The navigation system includes a navigation apparatus 1, an operation unit 2, a display device 3, a vehicle-state sensor 4, and a GPS receiver 5. The vehicle-state sensor 4 is composed of a group of sensors for detecting the vehicle state, including a direction sensor, such as an angular acceleration sensor or a geomagnetic sensor, and a vehicle speed sensor, such as a vehicle speed pulse sensor.
The navigation apparatus 1 includes a road map data storage unit 11 that is a storage device, such as a digital versatile disk (DVD) drive or a hard disk drive (HDD), storing road map data, a current-position determining unit 12, a map matching processor 13, a route searching unit 14, a memory 15, a controller 16, and a navigation image generator 17.
The current-position determining unit 12 includes a self-contained-navigation positioning unit 121 that performs positioning using self-contained navigation, and a satellite positioning controller 122 that controls the GPS receiver 5 to perform satellite positioning.
The self-contained-navigation positioning unit 121 of the current-position determining unit 12 repeatedly adds a displacement of the vehicle's position to a set reference point to determine the vehicle's position, and outputs the determined position as a first position. The displacement is determined by the vehicle speed and traveling direction output from the vehicle-state sensor 4. The satellite positioning controller 122 of the current-position determining unit 12 repeatedly causes the GPS receiver 5 to determine the vehicle's position based on satellite positioning while controlling positioning parameters of the GPS receiver 5, and outputs the position determined by the GPS receiver 5 as a second position.
The map matching processor 13 repeatedly performs map matching to a road map view including a range within which the vehicle's position determined the previous time is located, which is read from the road map data storage unit 11, based on the first and second positions output from the current-position determining unit 12, and determines the current position and the traveling direction of the vehicle. The map matching processor 13 further repeatedly sets the results in the memory 15, and updates the reference point set in the self-contained-navigation positioning unit 121, if necessary.
More specifically, the map matching processor 13 determines the current vehicle position by, for example, the following method: if the first position output from the self-contained-navigation positioning unit 121 is located within a circle having a predetermined radius centered around the second position output from the satellite positioning controller 122, the first position is used as a provisional current vehicle position, and a point on a road network that is determined by map matching between the provisional current vehicle position or trajectory and the map view and that is best matched to the provisional current vehicle position is determined as the current vehicle position. If the first position output from the self-contained-navigation positioning unit 121 is not located within a circle having a predetermined radius centered around the second position output from the satellite positioning controller 122, the second position is used as a provisional current vehicle position, and a point on a road network that is determined by map matching between the provisional current vehicle position or trajectory and the map view and that is best matched to the provisional current vehicle position is determined as the current vehicle position. Then, the reference point set in the self-contained-navigation positioning unit 121 is updated to the second position or the determined current vehicle position.
The map matching processor 13 may use any other algorithm to determine the current vehicle position using the first and second positions output from the current-position determining unit 12 and the road map view and to update the reference point set in the self-contained-navigation positioning unit 121.
In the present embodiment, if a satellite positioning failure is reported from the satellite positioning controller 122, the map matching processor 13 uses the first position as a provisional current vehicle position, and determines as the current vehicle position a point on a road network that is determined by map matching between the provisional current vehicle position or trajectory and the map view and that is best matched to the provisional current vehicle position.
The route searching unit 14 searches for a route from the current vehicle position stored in the memory 15 to a destination, and stores the searched route in the memory 15 as a recommended route. The destination is received by the controller 16 from a user via the operation unit 2, and is stored in the memory 15.
The navigation image generator 17 generates a navigation image, and displays the navigation image on the display device 3. The navigation image is configured so that the current vehicle position, the recommended route, and the destination stored in the memory 15 are displayed on the road map stored in the road map data storage unit 11.
Fig. 2 is a navigation image displayed on the display device 3. In the navigation image shown in Fig. 2, a current-position mark 202 indicating the current vehicle position, a route line 203 indicating a recommended route, etc., are displayed on a road map view 201 indicating a range including the vehicle's position. When the range of the road map view 201 includes a destination, a destination mark 204 indicating the destination is also displayed on the road view 201.
When the current vehicle position stored in the memory 15 is near the destination, the controller 16 determines that the vehicle has arrived at the destination, and clears the destination data and the recommended route data stored in the memory 15.
The details of an operation for the satellite positioning controller 122 in the navigation apparatus to output the second position will now be described.
Referring to Fig. 1, the GPS receiver 5 includes an antenna 51, a radio-frequency (RF) processor 52, a satellite filter 53, a satellite positioning unit 54, and a receiver controller 55. The RF processor 52 demodulates satellite baseband signals from radio waves received by the antenna 51, and sends the demodulated satellite signals and the field intensities of the radio waves received from the satellites to the satellite filter 53. The satellite filter 53 selects satellites available for positioning from the satellites whose signals have been received by the RF processor 52.
The receiver controller 55 sends information about the satellites selected by the satellite filter 53 to the satellite positioning controller 122. The receiver controller 55 also causes the satellite positioning unit 54 to perform satellite positioning using the signals from the satellites designated by the satellite positioning controller 122, and outputs the position determined by the satellite positioning unit 54 as a satellite-positioning-based position to the satellite positioning controller 122.
For example, an algorithm used by the satellite filter 53 to select a satellite available for positioning from the satellites whose signals have been received may have a combination of the following conditions:

(i) that the field intensity of the radio wave received from the selected satellite be equal to or higher than a predetermined level;
(ii) that the elevation angle of the selected satellite be equal to or greater than a predetermined value; and
(iii) that the selected satellite be one of satellites providing the best DOP, which depends upon the geometrical relationship of the satellite configuration.

Known DOP types include horizontal DOP (HDOP) indicating the accuracy of the horizontal position, vertical DOP (VDOP) indicating the accuracy of the vertical position, position DOP (PDOP) indicating the accuracy of the horizontal and vertical positions, time DOP (TDOP) indicating the time accuracy, and geometric DOP (GDOP) indicating the overall accuracy of horizontal and vertical positions and time. In the present embodiment, GDOP or PDOP, preferably, GDOP, is used to select a satellite available for positioning.
Referring to Fig. 3, the satellite positioning controller 122 includes a satellite selecting processor 310. The satellite selecting processor 310 reads information about satellites available for positioning from the receiver controller 55 as available-satellite data 302. The satellites available for positioning are selected by the satellite filter 53 from satellites 301 whose signals have been received. The receiver controller 55 sends the available-satellite data 302 indicating information about the satellites selected by the satellite filter 53 to the satellite positioning controller 122. The available-satellite data 302 sent from the receiver controller 55 includes at least a satellite number for identifying each satellite and a receiving level indicating the field intensity level of the radio wave received from each satellite.
The satellite positioning controller 122 receives the available-satellite data 302, and the satellite selecting processor 310 selects satellites to be used for actual satellite positioning from the satellites included in the available-satellite data 302 based on the available-satellite data 302 and available-satellite record data 303. The satellite selecting processor 310 transmits designated-satellite data 304 designating the selected satellites to the receiver controller 55. The satellite selecting processor 310 accumulates the received available-satellite data 302 in the available-satellite record data 303.
If the satellite selecting processor 310 cannot select three or more satellites to be used for actual satellite positioning, it reports a satellite positioning failure to the map matching processor 13. In this case, as described above, the map matching processor 13 uses the first position determined by the self-contained-navigation positioning unit 121 as a provisional current vehicle position, and determines as the current vehicle position a point on a road network that is determined by map matching between the provisional current vehicle position or trajectory and the map view and that is best matched to the provisional current vehicle position.
Upon receiving the designated-satellite data 304, the receiver controller 55 causes the satellite positioning unit 54 to perform satellite positioning using the signals received from the satellites designated by the designated-satellite data 304, and sends the position determined by the satellite positioning unit 54 to the satellite positioning controller 122 as positioning data 305. The satellite positioning unit 54 may use satellite parameters, such as the elevation angle and the direction, which are determined by the satellite filter 53 for selecting a satellite available for satellite positioning, to perform satellite positioning, if necessary.
If the number of satellites designated by the designated-satellite data 304 is four or more, the receiver controller 55 causes the satellite positioning unit 54 to perform three-dimensional positioning to determine the horizontal position (i.e., the latitude and the longitude) and the vertical position (i.e., the altitude) using satellite positioning.
If the number of satellites designated by the designated-satellite data 304 is three, the receiver controller 55 causes the satellite positioning unit 54 to perform two-dimensional positioning to determine the horizontal position using satellite positioning. In this case, it is presumed that the vertical position is represented by an average of a predetermined number of vertical positions recently determined by the satellite positioning unit 54. When two-dimensional positioning is performed by the satellite positioning unit 54, the positioning data 306 includes the presumed vertical position as the vertical position.
The satellite positioning controller 122 outputs a position identified by the received positioning data 305 as the second position.
The details of the satellite selecting processor 310 to select satellites to be used for actual satellite positioning will now be described.
Fig. 4 is a flowchart showing a satellite selection process performed by the satellite selecting processor 310. The satellite selection process is performed at constant intervals (e.g., at one-second intervals).
In the satellite selection process shown in Fig. 4, first, the available-satellite data 302 is obtained from the GPS receiver 5 (step 402). Then, satellites that are recorded in the available-satellite record data 303 for all previous n (e.g., 10) times are extracted from the satellites available for satellite positioning included in the available-satellite data 302. Then, satellites whose variation between the receiving level indicated by the available-satellite data 302 and the most recent receiving level in the receiving levels indicated by the available-satellite record data 303 for the previous n times is smaller than a predetermined value are extracted from the extracted satellites as candidate satellites (step 404).
If the number of extracted candidate satellites is four or more (step 406), four satellites are selected from the four or more extracted candidate satellites so that a candidate satellite (or satellites) selected as the designated satellite (or satellites) the previous time is also selected this time as a designated satellite (or satellites) with priority. The satellite numbers of the four selected candidate satellites are set in the designated-satellite data 304, and the designated-satellite data 304 is then sent to the GPS receiver 5 (step 414). Then, the process proceeds to step 412. In this case, as described above, the satellite positioning unit 54 of the GPS receiver 5 performs three-dimensional positioning using the four satellites designated by the designated-satellite data 304.
If the number of extracted candidate satellites is smaller than four (step 406), it is determined whether or not the number of extracted candidate satellites is three (step 408). If the number of extracted candidate satellites is three, the three extracted candidate satellites are selected as designated satellites, and the satellite numbers of the three designated satellites are set in the designated-satellite data 304, which is then sent to the GPS receiver 5 (step 416). Then, the process proceeds to step 412. In this case, as described above, the satellite positioning unit 54 of the GPS receiver 5 performs two-dimensional positioning using the three satellites designated by the designated-satellite data 304.
If the number of extracted candidate satellites is smaller than three (step 408), a satellite positioning failure is reported to the map matching processor 13 (step 410). Then, the process proceeds to step 412.
In step 412, the available-satellite data 302 is accumulated in the available-satellite record data 303. Then, the process of this time ends.
For clarification of description of the foregoing satellite selection process, it is assumed that n is 5 and all available satellites selected by the satellite filter 53 have a stable signal level. The satellite selection process in this case will be described with reference to Figs. 5A to 5D.
As shown in Fig. 5A, if satellite numbers 1, 5, 8, 9, and 11 are included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for all previous five times (T-1 to T-5), the satellites having satellite numbers 1, 5, 9, and 11 selected as the designated satellites the previous time (T-1) are selected as the designated satellites this time (T) and are set in the designated-satellite data 304. Then, three-dimensional positioning using the four designated satellites is performed. As shown in Fig. 5A, once the satellites having satellite numbers 1, 5, 9, and 11 are selected as designated satellites, the satellites having satellite numbers 1, 5, 9, and 11 are continuously selected as designated satellites as long as the available-satellite data 302 includes satellite numbers 1, 5, 9, and 11.
As shown in Fig. 5B, if the satellite having satellite number 11 in the satellites having satellite numbers 1, 5, 9, and 11 continuously selected by the designated-satellite data 304 for the previous five times (T-1 to T-5) is not included in the available-satellite data 302 for this time (T), four of the satellites having satellite numbers 1, 2, 5, 8, and 9 included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for all previous five times (T-1 to T-5) are selected as designated satellites. In this case, the satellites having satellite numbers 1, 5, and 9 selected as the designated satellites the previous time (T-1) are selected with priority as designated satellites. Thus, the three satellites having satellite numbers 1, 5, and 9 are selected as the designated satellites this time (T). As the remaining one designated satellite, a satellite having one of satellite numbers 2 and 8 (in Fig. 5B, satellite number 8) is selected. In the example shown in Fig. 5B, therefore, the satellites having satellite numbers 1, 5, 8, and 9 are selected as the designated satellites this time (T). Then, three-dimensional positioning is performed using these four designated satellites. Once the satellites having satellite numbers 1, 5, 8, and 9 are selected as designated satellites, the satellites having satellite numbers 1, 5, 8, and 9 are continuously selected as designated satellites as long as the available-satellite data 302 includes satellite numbers 1, 5, 8, and 9.
As shown in Fig. 5C, satellite number 11 in the satellites having satellite numbers 1, 5, 9, and 11 continuously selected by the designated-satellite data 304 for the previous five times (T-1 to T-5), shown in Fig. 5A, is not included in the available-satellite data 302 for this time (T), and the three satellites having satellite numbers 1, 5, and 8 are still included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for the previous five times (T-1 to T-5). In this case, these three satellites are selected as the designated satellites this time (T), and two-dimensional positioning is performed using these three designated satellites.
Once the satellites having satellite numbers 1, 5, and 8 are selected as designated satellites, the three satellites having satellite numbers 1, 5, and 8 are continuously selected as designated satellites as long as the three satellites having satellite numbers 1, 5, and 8 are included in the available-satellite data 302 for a given time (T) and the available-satellite record data 303 for the previous five times (T-1 to T-5).
Then, as shown in Fig. 5D, if the number of satellite numbers included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for the previous five times (T-1 to T-5) is changed to four or more, i.e., satellite numbers 1, 5, 8, and 13, four of these satellites are selected as the designated satellites this time (T), and three-dimensional positioning restarts using these four designated satellites. The satellites having satellite numbers 1, 5, 8, and 13 are continuously selected as designated satellites as long as the available-satellite data 302 includes satellite numbers 1, 5, 8, and 13.
As shown in Fig. 6A, if satellite numbers 1 and 5 are included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for all previous five times (T-1 to T-5), satellite positioning is stopped because it is determined that no satellite is designated, and a satellite positioning failure is reported to the map matching processor 13.
Then, as shown in Fig. 6B, when the number of satellite numbers included in the available-satellite data 302 for this time (T) and the available-satellite record data 303 for all previous five times (T-1 to T-5) is turned to three or more (in Fig. 6B, satellite numbers 1, 5, and 13), designated satellites are selected in the way described above, and satellite positioning is performed again depending upon the number of designated satellites.
According to the present embodiment, therefore, if the number of satellites stably available for satellite positioning for a predetermined period of time or longer up to now is four or more, four of the four or more satellites are selected for satellite positioning this time so that the combination of four satellites to be used for satellite positioning this time can be as similar as possible to the combination of four satellites used for satellite positioning the previous times. It is highly probable that the satellites stably available for satellite positioning for a predetermined period of time or longer up to now will also be stably available for satellite positioning in the future.
Therefore, stable three-dimensional positioning using the same combination of satellites can be realized.
If the number of satellites stably available for satellite positioning for a predetermined period of time or longer is three, two-dimensional positioning is performed using these three satellites. Thus, stable two-dimensional positioning can be performed while suppressing frequent changes of the combination of designated satellites with high probability, which is normally caused by continuous three-dimensional positioning using four or more satellites.
If the number of satellites stably available for satellite positioning for a predetermined period of time or longer is smaller than three, the current vehicle position is determined based on self-contained-navigation positioning without using satellite positioning. Thus, the current vehicle position can be stably determined while preventing a positioning error due to frequent changes of the combination of designated satellites used for satellite positioning with high probability, which is caused by continuous satellite positioning.
Since satellites having an unstable receiving level are not used for satellite positioning, satellite positioning without multipath effects can be realized.
The navigation apparatus may be implemented as a computer including a central processing unit (CPU), the memory 15, and an external storage device. In this case, the satellite selecting processor 310 may be implemented by the computer executing a program defining the processing described above.

Claims

A satellite positioning apparatus that performs positioning based on signals received from satellites, comprising:
available-satellite selecting means (303, 310) adapted, each time satellite positioning is performed, to select a plurality of available satellites available for satellite positioning from satellites whose signals have been received, the available satellites comprising satellites meeting a predetermined condition;

designated-satellite selecting means (302, 310) adapted, each time satellite positioning is performed, to select a predetermined number of designated satellites to be used for satellite positioning from the plurality of available satellites selected by the available-satellite selecting means (303, 310), characterized in that the predetermined number of designated satellites being selected so that when the plurality of available satellites include a predetermined number of satellites selected as designated satellites for satellite positioning the previous time satellite positioning was performed, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time satellite positioning was performed are selected with priority as the designated satellites to be used for the satellite positioning; and

satellite positioning means (54) adapted to perform satellite positioning using the signals received from the designated satellites selected by the designated-satelhite selecting means (302, 310).
The apparatus according to Claim 1, further comprising candidate-satellite selecting means (304, 310) for selecting a plurality of candidate satellites each time satellite positioning is performed, the candidate satellites comprising satellites continuously selected a predetermined number of times as the available satellites by the available-satellite selecting means (303, 310),
wherein each time satellite positioning is performed, the designated-satellite selecting means (302, 310) selects a predetermined number of designated satellites to be used for the satellite positioning each time from the plurality of candidate satellites selected by the candidate-satellite selecting means (304, 310) so that when the plurality of candidate satellites include a predetermined number of satellites selected as designated satellites for the satellite positioning the previous time, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time are selected with priority as the designated satellites to be used for the satellite positioning each time, and
the satellite positioning means (54) performs satellite positioning each time using the signals received from the designated satellites selected by the designated-satellite selecting means (302, 310).
The apparatus according to Claim 2, wherein the candidate-satellite selecting means (304, 310) selects, as the candidate satellites, satellites that are continuously selected a predetermined number of times or more as the available satellites by the available-satellite selecting means (303, 310) each time satellite positioning is performed and that have a variation level of signal receiving intensity for a most recent predetermined period of time smaller than a predetermined level.
The apparatus according to Claim 2, wherein the available-satellite selecting means (303, 310) selects, as the available satellites, satellites having at least an elevation angle greater than a predetermined value, satellites having at least a signal receiving intensity level higher than a predetermined level, or satellites providing the best or better dilution of precision than a predetermined level.
The apparatus according to Claim 2, wherein when the number of candidate satellites selected by the candidate-satellite selecting means (304, 310) is n or greater, where n is an integer greater than three, the designated-satellite selecting means (302, 310) selects n satellites as the designated satellites to be used for satellite positioning each time, and
when the number of designated satellites selected by the designated-satellite selecting means (302, 310) is n, the satellite positioning means (54) performs three-dimensional positioning using the signals received from the n designated satellites.
A navigation apparatus comprising:
the satellite positioning apparatus according to Claim 5;

a self-contained positioning apparatus (121) that performs positioning using self-contained navigation; and

a current-position determining unit that determines a current position based on a position determined by the satellite positioning apparatus and a position determined by the self-contained-navigation positioning apparatus,

wherein the current-position determining means (12) determines the current position based on the position determined by the self-contained-navigation positioning apparatus (121) when the number of candidate satellites selected by the candidate-satellite selecting means (304, 310) is smaller than three.
The apparatus according to Claim 5, wherein n is 4.
The apparatus according to Claim 7, wherein when the number of candidate satellites selected by the candidate-satellite selecting means (304, 310) is three, the designated-satellite selecting means (302, 310) selects the three satellites as the designated satellites to be used for the satellite positioning each time, and
when the number of designated satellites selected by the designated-satellite selecting means (302, 310) is three, the satellite positioning means (54) performs two-dimensional positioning using the signals received from the three designated satellites.
A current position determining method for a navigation apparatus, for determining a current position, the navigation apparatus comprising a satellite positioning apparatus that performs positioning using satellite positioning and a self-contained-navigation positioning apparatus (121) that performs positioning using self-contained navigation, the method comprising:
a first step of, in the satellite positioning apparatus, each time satellite positioning is performed, determining available satellites from satellites whose signal has been received, the available satellites comprising satellites meeting a predetermined condition;

characterized by;

a second step of, in the satellite positioning apparatus, each time satellite positioning is performed, selecting candidate satellites from available satellites, the candidate satellites comprising satellites continuously selected a predetermined number of times as the available satellites in the first step;

a third step of, in the satellite positioning apparatus, each time satellite positioning is performed, when the number of candidate satellites selected in the second step is n or greater, where n is an integer greater than three, selecting n satellites as designated satellites from the candidate satellites, the designated satellites being selected so that when the candidate satellites include a predetermined number of satellites selected as designated satellites for satellite positioning the previous time satellite positioning was performed, the predetermined number of satellites selected as the designated satellites for the satellite positioning the previous time satellite positioning was performed are selected with priority as the designated satellite to be used for the satellite positioning;

a fourth step of, in the satellite positioning apparatus, when the number of designated satellites selected in the third step is n, performing three-dimensional positioning using the signals received from the n designated satellites; and

a fifth step of, in the navigation apparatus, at least when the number of candidate satellites selected in the second step is n or greater, determining the current position based on a position determined by the satellite positioning apparatus and a position determined by the self-contained-navigation positioning apparatus (304, 310), and at least when the number of candidate satellites selected by the second step is smaller than three, determining the current position based on the position determined by the self-contained-navigation positioning apparatus (304, 310).
The method according to Claim 9, wherein the method is implemented by a computer program read and executed by a computer.